Hello,
the proposed EKF in the Aceinna Online Manuel uses in the state-transition section for the rate and acceleration bias following model to calculate the standard deviation of the drift rate of the gyroscope:
It is just said that this equation comes from an empirical study. Are there any paper/links available to this study where I can find this relation between BI and ARW respectively to the gyro drift rate?
Thanks in advance.
Kind Regards
Andreas
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